Multi-directional actuating module

ABSTRACT

One embodiment provides a multi-directional actuating module capable of moving in various directions and capable of delivering various tactile senses such as knocking or rubbing as well as vibration by controlling at least one of the intensity, direction or frequency of a magnetic field generation unit. Further, the multidirectional actuating module according to one embodiment may comprise: a moving body capable of moving in at least two or more axial directions by means of an external magnetic field; a support for supporting the moving body so as to be movable; and at least two or more magnetic field generation units which are in the form of a coil to generate the magnetic field.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. application Ser. No.15/763,211, filed Mar. 26, 2018 entitled “MULTI-DIRECTIONAL ACTUATINGMODULE”, which is a National Stage Application of PCT InternationalApplication serial number PCT/KR2017/005508, filed on May 26, 2017,which claims priority to Korean Applications, Application number10-2016-0073949, filed on Jun. 14, 2016 and Application number10-2016-0145620, filed Nov. 3, 2016. The disclosures of the Applicationsreferenced above are incorporated by reference herein in their entirety.

TECHNICAL FIELD

Example embodiments relate to a multi-directional actuating module to beused in a haptic device, and more particularly to, a multi-directionalactuating module that includes a material including magnetic particlesto provide various tactile senses based on a movement such as amulti-directional vibration associated with a moving body changing aposition in response to an external magnetic field being applied.

BACKGROUND

Haptics is a technique related to touch and specifically refers to atechnique that allows a user of an electronic device to feel a touch, aforce, and a sense of movement through a keyboard, a mouse, a joystick,and a touch screen. In the past, visual and auditory means have beenmainly used as means of exchanging information between users andelectronic devices, but recently, haptic technology has been attractingattention for more specific and realistic information transmission.

In general, a haptic providing device based on the haptic technology mayinclude an inertial actuator, a piezoelectric actuator, anelectro-active polymer actuator (EAP), and an electrostatic actuator.

The inertial actuator may include an eccentric rotation motor (ERM) thatvibrates using an eccentric force generated by a body of weightconnected to a magnetic circuit and a linear resonant actuator (LRA)that maximizes an intensity of vibration using a resonance frequencygenerated by the body of weight connected to the magnetic circuit and anelastic spring.

In terms of a linear resonance actuator in the haptic providing deviceof the related art, there are Korean Patent Registration No. 10-1461274(entitled: LINEAR MOTOR) and Korean Patent Laid-open Publication No.10-2016-0021160 (entitled: SPRING AND LINEAR VIBRATION MOTOR THEREWITH).

The piezoelectric actuator may be a device that is driven in a form of abar or a disk based on a piezoelectric element of which an externalshape changes instantaneously by an electric field. In the related art,there are Korean Patent Registration No. 10-1603957 (entitled:PIEZOELECTRIC ACTUATOR, PIEZOELECTRIC VIBRATION APPARATUS AND PORTABLETERMINAL) and Korean Patent Laid-open Publication No. 10-2011-0118584(entitled: TRANSPARENT COMPOSITE PIEZOELECTRIC COMBINED TOUCH SENSOR ANDHAPTIC ACTUATOR).

The EPA may be a device that is driven based on repetitive movementsprovided by attaching an electro-active polymer film to a mass. The EPAmay be based on a principle that a shape of the electro-active polymerfilm is changed by a functional group of a polymer backbone having aspecific mechanism by external electric power. In the related art, thereis U.S. Patent Application Publication No. US2016/0049576 (entitled:ACTUATOR STRUCTURE AND METHOD).

In addition to the above-mentioned haptic providing device, hapticproviding device using a shape memory apply, an electrostatic force, anultrasonic wave, and the like have been developed.

However, the above-mentioned haptic providing device merely transmits asimple vibration and thus, there is a limit to transmission of emotionaltactile feedbacks or complex character information.

Korean Patent Registration No. 10-1556970 (entitled: SIMULATION OF THREEDIMENSIONAL MOTION USING HAPTIC ACTUATORS) discloses a method andapparatus for simulating a three-dimensional (3D) motion using hapticactuators, which, however, is to simulate a motion of a dynamic objectby “sequentially” activating or deactivating a plurality of hapticactuators in a user device based on a predetermined reference instead ofimplementing 3D vibration or “tactile sense” such as a sense of rubbingusing a single actuator.

Accordingly, there is a desire for research on a tactile sensetransmitting structure for effectively transmitting more sensitive andcomplex emotion and information in addition to a simple verticalvibration in order to transmit a variety of information through atactile sense besides visual and auditory senses.

SUMMARY

An aspect provides a multi-directional actuating module that providesmore sensitive tactile senses corresponding to various situations.

Another aspect provides a multi-directional actuating module thatprovides various tactile senses by performing a motion such as avibration, a rotation, and/or a translation in at least one direction ona plane (an X-Y plane) as well as a Z-axial motion.

Still another aspect provides a multi-directional actuating module thattransmits various tactile senses such as “tapping” or “rubbing” inaddition to a vibration by controlling at least one of a frequency, adirection or an intensity in a magnetic field generator.

According to an aspect, there is provided a multi-directional actuatingmodule including a moving body configured to move in at least two axialdirections by a magnetic field of an outside, a support configured tosupport the moving body to be movable, and at least two magnetic fieldgenerators provided in a form of a coil to generate the magnetic field.

The support may include a support wall configured to encompass themoving body and at least one connector configured to connect the supportwall and the moving body and formed of a deformable material.

The at least two magnetic field generators may be arranged above orbelow the moving body, and the connector may be disposed on a peripheryof a side surface of the moving body.

The at least two magnetic field generators may include a first magneticfield generator disposed on a first side and a second magnetic fieldgenerator disposed on a second side opposite to the first side relativeto the moving body.

The first and second magnetic field generators may be configured togenerate magnetic fields of the same direction to allow the moving bodyto move upwardly or downwardly.

The first and second magnetic field generators may be configured togenerate magnetic fields of opposite directions to allow the moving bodyto move toward the first side or the second side.

The connector may include a first connector disposed on the first siderelative to the moving body and a second connector disposed on thesecond side relative to the moving body.

A distance between a center of the first magnetic field generator and acenter of the second magnetic field generator may range between 90% and110% of a length of one side of the moving body laid in a directiontraversing the centers of the first and second magnetic fieldgenerators.

Coils of the first magnetic field generator and the second magneticfield generator may be formed in an ellipse or circle shape.

According to another aspect, there is also provided a haptic deviceincluding at least two magnetic field generators provided in a form of acoil to generate a magnetic field, a moving body configured to move inat least two axial directions by the magnetic field generated by the atleast two magnetic field generators, a support configured to support themoving body to be movable, and a transmitter configured to transmit atactile signal by moving together with the moving body when the movingbody moves,

The haptic device may include at least one connecting body configured toconnect the moving body and the transmitter.

The support may include a support wall configured to encompass themoving body and a plurality of connectors configured to connect thesupport wall and the moving body, formed of a deformable material, andarranged symmetrically.

Based on an X-Y plane on which a zero point is a center of the movingbody, the at least two magnetic field generators may include a firstmagnetic field generator disposed on a +Y axis based on the moving body,a second magnetic field generator disposed on a +X axis based on themoving body, a third magnetic field generator disposed on a −Y axisbased on the moving body, and a fourth magnetic field generator disposedon a −X axis based on the moving body.

The second magnetic field generator and the fourth magnetic fieldgenerator may be configured to generate magnetic fields of oppositedirections to allow the moving body to move in an X-axial direction, andthe first magnetic field generator and the third magnetic fieldgenerator may be configured to generate magnetic fields of oppositedirections to allow the moving body to move in a Y-axial direction

A pair of the first magnetic field generator and the second magneticfield generator and a pair of the third magnetic field generator and thefourth magnetic field generator may be configured to generate magneticfields of opposite directions to allow the moving body to move in a Y=Xline direction, and a pair of the first magnetic field generator and thefourth magnetic field generator and a pair of the second magnetic fieldgenerator and the third magnetic field generator may be configured togenerate magnetic fields of opposite directions to allow the moving bodyto move in a Y=−X line direction.

Based on the X-Y plane on which the zero point is the center of themoving body, the at least two magnetic field generators may include afirst magnetic field generator disposed in a first quadrant based on themoving body, a second magnetic field generator disposed in a secondquadrant based on the moving body, a third magnetic field generatordisposed in a third quadrant based on the moving body, and a fourthmagnetic field generator disposed in a fourth quadrant based on themoving body.

A pair of the first magnetic field generator and the second magneticfield generator and a pair of the third magnetic field generator and thefourth magnetic field generator may be configured to generate magneticfields of opposite directions to allow the moving body to move in anX-axial direction, and a pair of the first magnetic field generator andthe fourth magnetic field generator and a pair of the second magneticfield generator and the third magnetic field generator may be configuredto generate magnetic fields of opposite directions to allow the movingbody to move in a Y-axial direction.

According to an aspect, it is possible to provide a multi-directionalactuating module that performs a motion in multiple directions.

According to another aspect, it is possible to provide amulti-directional actuating module that transmits various tactile sensessuch as “tapping” or “rubbing” in addition to a vibration by controllingat least one of a frequency, a direction or an intensity in a magneticfield generator.

BRIEF DESCRIPTION OF DRAWINGS

These and/or other aspects, features, and advantages of the inventionwill become apparent and more readily appreciated from the followingdescription of example embodiments, taken in conjunction with theaccompanying drawings.

FIG. 1 is a perspective view illustrating a haptic device according toan example embodiment.

FIG. 2 is an exploded perspective view illustrating an example of anactuating module according to an example embodiment.

FIG. 3 is a cross-sectional view illustrating an actuating moduleincluding a moving body moving in a Z-axial direction according to anexample embodiment.

FIG. 4 is a top view illustrating an actuating module including a movingbody moving in an X-axial direction according to an example embodiment.

FIG. 5 is a top view illustrating an actuating module including a movingbody moving in an X-axial direction according to an example embodiment.

FIG. 6 is a graph illustrating an intensity of force differently appliedto a moving body based on a space between magnetic field generatorsaccording to an example embodiment.

FIGS. 7A, 7B, and 7C are bottom views illustrating magnetic fieldgenerators of an actuating module in various shapes according to anexample embodiment.

FIG. 8 is a graph illustrating an intensity of force differently appliedto a moving body based on shapes of magnetic field generators accordingto an example embodiment.

FIG. 9 is an exploded perspective view illustrating another example ofan actuating module according to an example embodiment.

FIG. 10 is an exploded perspective view illustrating still anotherexample of an actuating module according to an example embodiment.

DETAILED DESCRIPTION

Hereinafter, some example embodiments will be described in detail withreference to the accompanying drawings. Regarding the reference numeralsassigned to the elements in the drawings, it should be noted that thesame elements will be designated by the same reference numerals,wherever possible, even though they are shown in different drawings.Also, in the description of embodiments, detailed description ofwell-known related structures or functions will be omitted when it isdeemed that such description will cause ambiguous interpretation of thepresent disclosure.

In addition, terms such as first, second, A, B, (a), (b), and the likemay be used herein to describe components. Each of these terminologiesis not used to define an essence, order or sequence of a correspondingcomponent but used merely to distinguish the corresponding componentfrom other component(s). It should be noted that if it is described inthe specification that one component is “connected”, “coupled”, or“joined” to another component, a third component may be “connected”,“coupled”, and “joined” between the first and second components,although the first component may be directly connected, coupled orjoined to the second component.

Unless otherwise defined, all terms, including technical and scientificterms, used herein have the same meaning as commonly understood by oneof ordinary skill in the art to which this disclosure pertains. Terms,such as those defined in commonly used dictionaries, are to beinterpreted as having a meaning that is consistent with their meaning inthe context of the relevant art, and are not to be interpreted in anidealized or overly formal sense unless expressly so defined herein.

FIG. 1 is a perspective view illustrating a haptic device 1 according toan example embodiment.

The haptic device 1 may include a magnetic field generating module 13configured to generate a magnetic field, a moving body 11 configured tomove by the magnetic field, a support 12 configured to support themoving body 11 to be movable, and a transmitter 30 configured totransmit a tactile signal by moving together with the moving body 11when the moving body 11 moves. The transmitter 30 may be provided in aform of, for example, a display or a glove.

Also, the haptic device 1 may include at least one connecting body 20configured to connect the moving body 11 and the transmitter 30. Theconnecting body 20 may be provided in a form of, for example, a rod. Theconnecting body 20 may function as a medium to transfer movements suchas a vibration, a rotation, and/or a translation (, hereinafter, alsoreferred to as “motion” collectively) of the moving body 11.

The moving body 11 may perform various motions as further discussedbelow. In an example, by a magnetic field generated when an alternating(AC) current is applied to a magnetic field generator of the magneticfield generating module 13, the moving body 11 may repetitively move ina vertical direction, which may be understood as “vibration”. In anotherexample, by a direct (DC) current consistently applied to a magneticfield generator of the magnetic field generating module 13, an angle ofthe moving body 11 relative to the magnetic field generating module 13may be changed or a position of the moving body 11 relative to themagnetic field generating module 13 may be changed, which may beunderstood as “rotation” and “translation”, respectively. The movementsof the vibration, the rotation, and the translation may occursimultaneously. Such movements may also be referred to as a motion.

FIG. 2 is an exploded perspective view illustrating an example of anactuating module 10 according to an example embodiment.

The actuating module 10 may include the moving body 11 configured tomove by an external magnetic field, the support 12 configured to supportthe moving body 11 to be movable, and the magnetic field generatingmodule 13 provided in a form of a coil to generate a magnetic field.

The support 12 may include a support wall 122 configured to encompassthe moving body 11, and at least one connector 121 configured to connectthe support wall 122 and the moving body 11 and formed of a deformablematerial. The connector 121 may have, for example, an arm shape and anelasticity to restrict a movable range of the moving body 11 and providea restoring force.

For example, the connector 121 may include a plurality of parallel barsin parallel to a longitudinal direction of each side of the moving body11 and at least one connecting bar connecting the plurality of parallelbars. The plurality of parallel bars may be greater in length than theat least one connecting bar. In other words, lengths of the plurality ofparallel bars may be greater than distances between the parallel bars.The connector 121 may have a shape that is bent a plurality of times asshown in the figure. One end portion of the connector 121 may beconnected to one end portion of each side of the moving body 11 having aquadrangular plate shape. In the above-mentioned shape, a direction of aforce transmitted through the connector 121 may be deviated from acenter of gravity of the moving body 11 such that the moving body 11performs a rotation motion and a translation motion, which may provide atactile sense such as a sense of twisting. The connectors 121 may bearranged in point symmetry with respect to a center of the moving body11.

The magnetic field generating module 13 may be disposed above or belowthe moving body 11. The connector 121 may be arranged on a periphery ofa side surface of the moving body 11.

The moving body 11 may be formed of a material to react with an externalmagnetic field and to be magnetically polarized. The connector 121 maybe formed of a matrix material having the elasticity.

The magnetic field generating module 13 may include a first magneticfield generator 131 and a second magnetic field generator 132, eachprovided in a form of a coil, and a case 133 configured to fix positionsof the first magnetic field generator 131 and the second magnetic fieldgenerator 132 and enclose the first magnetic field generator 131 and thesecond magnetic field generator 132. Magnetic properties of the firstmagnetic field generator 131 and the second magnetic field generator 132may be the same or different.

The moving body 11 may be formed in various shapes based on a shape ofan actuator or a type of tactile sense to be transmitted. Also, themoving body 11 may be supported by at least two connectors 121.

The moving body 11 may include, for example, metal particles such asion, ferrite, cobalt, samarium, strontium, barium, aluminum, nickel, andneodymium in nano or micron units, a polymer, plastic, or rubbermaterial such as silicone, polyurethane, nitrile, polyethylene, andpolyethylene, and combinations thereof.

The moving body 11 may be magnetized to achieve a maximum magneticforce. A magnetization may be performed in a one direction based on acoil or to achieve two poles on one face, multiple poles on one face, ormultiple poles on double faces.

In FIG. 2, when the moving body 11 is magnetized, the moving body 11 maybe polarized vertically based on a z-axial direction. For example,magnetic properties of an upper portion and a lower portion of themoving body 11 may be an N pole and an S pole, respectively.

A surface of the moving body 11 may be formed with a soft magneticmaterial such as soft iron, silicon steel, and quartz to effectively usea magnetic force. The surface of the moving body 11 may also be formedwith a mixed material of soft magnetic material powder and a polymer,plastic, or rubber material such as silicone, polyurethane, nitrile,polyethylene, and polyethylene.

The connector 121 including the matrix material may change a shape inresponse to a motion including the vibration and the like of the movingbody 11. Also, the connector 121 may increase a modulus of elasticity toreach at least a predetermined level, thereby maximizing the restoringforce.

At least two connectors 121 may be provided to efficiently support themoving body 11 moving in a multi-direction based on moving directions ofthe moving body 11. The at least two connectors 121 may include a firstconnector disposed on a first side relative to the moving body 11 and asecond connector disposed on a second side relative to the moving body11.

A shape of the connector 121 may be at least one selected from a groupincluding a straight line, a rhombus, an arm, and a combination thereof.

In an example, the connector 121 may include a rubber, a polymermaterial, or a silicone material. To change the modulus of elasticity,the connector 121 may include an additive agent such as an antifoamingagent, a plasticizer, a reinforcing filler, and a softener.

In another example, the connector 121 may include a rubber, a polymermaterial, or a silicone material. To change the modulus of elasticity, aprocess such as vacuum defoaming, hot curing or foaming may be performedon the connector 121.

The magnetic field generators 131 and 132 may be arranged in at leastone of an upper side or a lower side of the moving body 11 and may be ina position or a shape corresponding to the moving body. Also, themagnetic field generators 131 and 132 may have the same or differentmagnetic properties in relation to the moving body 11 at portions incontact with the moving body 11.

A polygonal plane coil having, for example, a circle, ellipse orrectangle shape, or a solenoid coil may be used as the magnetic fieldgenerators 131 and 132. Center holes of the magnetic field generators131 and 132 may each be hollow or include a soft magnetic core formed ofa material such as soft iron, steel, and stone.

The magnetic field generators 131 and 132 may be provided as a pluralityof magnetic field generators based on directions in which the movingbody 11 is to move. The magnetic field generators 131 and 132 mayinclude the first magnetic field generator 131 disposed on a first sideand the second magnetic field generator 132 disposed on a second sideopposite to the first side.

The magnetic field generators 131 and 132 may have the same or differentmagnetic properties, and a DC or AC current may be applied thereto.

The magnetic field generating module 13 may adjust a space betweenmagnetic field generating modules, an intensity of magnetic field, and adirection of current applied to each magnetic field generating modulebased on a number of actuating directions, a performance, and a designof the actuating module 10.

Also, a degree of a motion including, for example, the vibration of themoving body 11 may be controlled based on a frequency, an intensity, adirection of current applied to a coil, a coil shape, a space betweencoils, an elasticity of a connector, a weight of the moving body 11 or acombination thereof.

Referring to FIG. 2, in the actuating module 10, two connectors, forexample, the connector 121 and the support wall 122 may support themoving body 11 in a square shape in a left side and a right side of themoving body 11. Also, the two magnetic field generators 131 and 132 arearranged below the moving body 11.

FIG. 6 is a graph illustrating an intensity of a force differentlyapplied to a moving body based on a space between magnetic fieldgenerators according to an example embodiment.

To measure an effect exerted on an intensity of a horizontal vibratingforce applied to the moving body 11 based on a space between themagnetic field generators 131 and 132, a horizontal vibrating force maybe measured by slightly increasing a space between the magnetic fieldgenerators 131 and 132.

As shown in the graph, when the magnetic field generators 131 and 132are in contact with each other, the space between the magnetic fieldgenerators 131 and 132 may be 50% of a length of one side of the movingbody 11 laid in a direction traversing centers of the magnetic fieldgenerators 131 and 132. In this example, the horizontal vibrating forceapplied to the moving body 11 based on the magnetic field generators 131and 132 may increase, and then decrease.

Also, it can be known from the graph that a maximum horizontal vibratingforce is obtained when a distance between the centers of the magneticfield generators 131 and 132 ranges between 90% and 110% of the one sideof the moving body 11 laid in the direction traversing the centers ofthe magnetic field generators 131 and 132.

FIGS. 7A through 7C are bottom views illustrating magnetic fieldgenerators of an actuating module in various shapes according to anexample embodiment.

As illustrated in FIGS. 7A through 7C, the magnetic field generators 131and 132 may be formed in circular, elliptical, and rectangular shapes.

FIG. 8 is a graph illustrating an intensity of force differently appliedto a moving body based on shapes of magnetic field generators accordingto an example embodiment. An effect exerted on an intensity of ahorizontal vibrating force applied to a moving body may be measuredbased on a shape of a magnetic field generator.

A horizontal vibrating force may be measured by changing a shape of themagnetic field generators 131 and 132 to circular, elliptical, andrectangular shapes. To exclude effects of factors other than the shapeof the magnetic field generators 131 and 132, each of the magnetic fieldgenerators 131 and 132 may be manufactured to have the same current andthe same number of turns.

As shown in the graph, a relatively high intensity of horizontalvibrating force may be obtained when the magnetic field generators 131and 132 having the same current and the same number of turns is in thecircular or elliptical shape.

Hereinafter, a motion mechanism including the vibration and the like ofthe actuating module 10 will be described.

FIG. 3 is a cross-sectional view illustrating the actuating module 10including the moving body 11 moving in a Z-axial direction according toan example embodiment.

Four connectors including the connector 121 may support the moving body11 that is vertically polarized and magnetized. Two magnetic fieldgenerators, for example, the magnetic field generators 131 and 132 maybe arranged below the moving body 11.

The two magnetic field generators 131 and 132 may be configured to havethe same magnetic properties. When an AC current is applied to the twomagnetic field generators 131 and 132, an attractive force and arepulsive pulse may alternately generated between the moving body 11 andthe magnetic field generators 131 and 132 due to the magnetic propertiesof the magnetic field generators 131 and 132.

In this example, the moving body 11 may perform a to-and-fro motionbetween a first position toward which a relative distance from themagnetic field generators 131 and 132 increases due to the repulsiveforce and a second position toward which a relative distance from themagnetic field generators 131 and 132 decreases due to the attractiveforce.

Also, in response to at least one of a frequency, a direction or anintensity of a magnetic field formed by the magnetic field generators131 and 132 being controlled, at least one of a frequency or anintensity changing direction from the first position to the secondposition may be controlled, thereby generating a tactile signal of, forexample, a vibration or a tapping.

FIGS. 4 and 5 are top views illustrating the actuating module 10including the moving body 11 moving in an X-axial direction according toan example embodiment. An X-axis directional movement may be describedwith reference to FIGS. 4 and 5.

Similarly to a Z-axis directional motion, four connectors including theconnector 121 may support the moving body 11 that is verticallypolarized and magnetized. Also, the two magnetic field generators 131and 132 may be arranged to be adjacent to a bottom of the moving body11.

Unlike the Z-axis directional motion, the two magnetic field generators131 and 132 may be configured to have different magnetic properties, andan AC current may be applied to the two magnetic field generators 131and 132.

As illustrated in FIG. 4, in terms of the two magnetic field generators,a repulsive force may be generated in an area adjacent to the firstmagnetic field generator 131 and the moving body 11 and an attractiveforce may be generated at a face of the moving body contacting thesecond magnetic field generator 132, whereby an X-axis directionalmotion from the first magnetic field generator 131 to the secondmagnetic field generator 132 occurs.

Thereafter, when opposite directional currents are applied to the twomagnetic field generators 131 and 132, the first magnetic fieldgenerator 131 and the second magnetic field generator 132 may bereversed in magnetic property in a vicinity of the moving body 11.

Accordingly, as illustrated in FIG. 5, the attractive force may begenerated in an adjacent area of the moving body 11 and the firstmagnetic field generator 131, and the repulsive force may be generatedin an adjacent area of the moving body and the second magnetic fieldgenerator 132.

In the moving body 11, a motion of a direction from the first magneticfield generator 131 to the second magnetic field generator 132 may beswitched to a motion of a direction from the second magnetic fieldgenerator 132 to the first magnetic field generator 131. When theswitching is repeated, a to-and-fro motion of an X-axial direction maybe implemented. For example, by applying the AC current to the firstmagnetic field generator 131 and the second magnetic field generator132, the to-and-fro motion of the X-axial direction may be implemented.

Also, in response to at least one of a frequency, a direction or anintensity of a magnetic field formed by the magnetic field generators131 and 132 being controlled, at least one of a frequency or anintensity changing direction between a coil of the first magnetic fieldgenerator 131 and a coil of the second magnetic field generator 132 maybe controlled, thereby generating a tactile signal of, for example, anX-axial directional vibration or tapping.

FIGS. 9 and 10 illustrate actuating modules 20 and 30 configured to movein three directions according to a second example embodiment and a thirdexample embodiment.

Similarly to a 2-directional actuating module, four connectors includingthe connector 121 may support the moving body 11 that is verticallypolarized and magnetized. Also, four magnetic field generators, forexample, a first magnetic field generator 141, a second magnetic fieldgenerator 142, a third magnetic field generator 143, and a fourthmagnetic field generator 144 may be arranged to be adjacent to a bottomof the moving body 11. The four magnetic field generators 141, 142, 143,and 144 may be configured as a magnetic field generator set 140.

The magnetic field generator set 140 may include the first magneticfield generator 141, the second magnetic field generator 142, the thirdmagnetic field generator 143, and the fourth magnetic field generator144.

The four magnetic field generators 141, 142, 143, and 144 may bearranged in a quadrangular form (as shown in FIG. 9) or in a cross form(as shown in FIG. 10).

In FIG. 9, the first magnetic field generator 141 may be disposed on a+Y axis, the second magnetic field generator 142 may be disposed on a +Xaxis, the third magnetic field generator 143 may be disposed on a −Yaxis, and the fourth magnetic field generator 144 may be disposed on a−X axis.

In FIG. 10, the first magnetic field generator 141 may be disposed in afirst quadrant, the second magnetic field generator 142 may be disposedin a fourth quadrant, the third magnetic field generator 143 may bedisposed in a third quadrant, and the fourth magnetic field generator144 may be disposed in a second quadrant.

The following description will be based on the quadrangular-formarrangement corresponding to FIG. 9.

Similarly to the aforementioned 2-directional actuating module, to allowthe moving body 11 to move in the Z-axial direction, the four magneticfield generators 141, 142, 143, and 144 may be configured to have thesame magnetic properties. When an AC current is applied to the magneticfield generators, an attractive force and a repulsive pulse mayalternately generated between the four magnetic field generators 141,142, 143, and 144 and the moving body 11 located adjacent thereto.

When two magnetic field generators are used for the Z-axis directionalmotion, it is appropriate to use the first and third magnetic fieldgenerators or the second and fourth magnetic field generators 142 and144 so as to be balanced.

The moving body 11 may perform a to-and-fro motion between a firstposition toward which a relative distance from the magnetic fieldgenerator set 140 increases due to the repulsive force and a secondposition toward which a relative distance from the magnetic fieldgenerator set 140 decreases due to the attractive force.

Also, in response to at least one of a frequency, a direction or anintensity of a magnetic field formed by from the magnetic fieldgenerator set 140 being controlled, at least one of a frequency or anintensity changing direction from the first position to the secondposition may be controlled, thereby generating a tactile signal of, forexample, a vibration and a tapping.

Hereinafter, a Z-axis directional partial motion of the moving body 11will be described.

The AC current may be applied to the first magnetic field generator 141.A DC current may be applied to the second, third, and fourth magneticfield generators 142, 143 and 144 such that the second, third, andfourth magnetic field generators 142, 143 and 144 have magneticproperties opposite to that of the moving body 11.

In this example, when the AC current is applied to the first magneticfield generator 141, the attractive force and the repulsive pulse mayalternately generated between the moving body 11 and the first magneticfield generator 141. Also, the attractive force may be continuouslygenerated between the second, third, and fourth magnetic fieldgenerators 142, 143 and 144 and the moving body 11.

Due to the attractive force relative to the second, third, and fourthmagnetic field generators 142, 143 and 144, a distance between themoving body 11 and the first magnetic field generator may decrease. Bythe AC current applied to the first magnetic field generator, theattractive force and the repulsive force may be alternately generated inan area between the first magnetic field generator and a portion of themoving body 11 adjacent to the first magnetic field generator. Throughthis, the portion of the moving body 11 adjacent to the first magneticfield generator 141 may perform the to-and-fro motion in the Z-axialdirection.

When compared to the Z-axis directional motion in which the motionoccurs in a center portion of the moving body 11 in the 2-directionalactuating module, a partial vibrating sense may be provided from avibration source biased to the first magnetic field generator in adiagonal direction.

Similarly, the AC current may be applied to the second magnetic fieldgenerator 142 and the DC current may be applied to the first, third, andfourth magnetic field generators 141 143 and 144 such that to the first,third, and fourth magnetic field generators 141, 143 and 144 have amagnetic property opposite to that of the moving body 11. In thisexample, when the AC current is applied, the attractive force and therepulsive pulse may alternately generated between the second magneticfield generator 142 and a portion of the moving body 11 adjacent tobetween the second magnetic field generator 142. Also, the attractiveforce may be continuously generated with respect to the first, third,and fourth magnetic field generators 141, 143 and 144.

Likewise, the Z-axis directional motion may occur in a desired portionof the moving body 11 when the AC current is applied to the thirdmagnetic field generator 143 or the fourth magnetic field generator 144,and the DC current is applied to remaining magnetic field generators tohave the magnetic property opposite to that of the moving body 11.

Also, the Z-axis directional motion may occur in a desired portion ofthe moving body 11 when the AC current is applied to two neighboringmagnetic field generators among a plurality of magnetic fieldgenerators, and the DC current is applied to remaining magnetic fieldgenerators to have the magnetic property opposite to that of the movingbody 11.

Hereinafter, the X-axis directional partial motion of the moving body 11associated with the actuating modules 20 and 30 will be described withreference to FIGS. 9 and 10.

When implementing the X-axis directional motion using magnetic fieldgenerators arranged as illustrated in FIG. 9, the first and secondmagnetic field generators 141 and 142 may be provided as a pair, and thethird and fourth magnetic field generators 143 and 144 may be providedas a pair. In this example, the corresponding magnetic field generatorsin the pair may be magnetized with each other.

The moving body 11 may receive the attractive force and the repulsiveforce from the first and second magnetic field generators 141 and 142and receive the repulsive force and the attractive force from the thirdand fourth magnetic field generators 143 and 144, alternately. Throughthis, the moving body 11 may perform a motion in the X-axial directionwhich is a direction corresponding to a vector sum thereof.

When magnetic field generators are arranged as illustrated in FIG. 10,the X-axis directional motion may be implemented using only the secondand fourth magnetic field generators 142 and 144.

A specific motion mechanism may be the same as the mechanism of theX-axis directional motion in a first example embodiment except for amagnetic field generator to be used.

Hereinafter, a Y-axis directional motion of the moving body 11associated with the actuating modules 20 and 30 will be described withreference to FIGS. 9 and 10.

When implementing the Y-axis directional motion using magnetic fieldgenerators arranged as illustrated in FIG. 9, the first and fourthmagnetic field generators 141 and 144 may be provided as a pair and thesecond and third magnetic field generators 142 and 143 may be providedas a pair. In this example, each of the pairs may have the same magneticproperty.

The moving body 11 may receive the attractive force and the repulsiveforce from the first and fourth magnetic field generators 141 and 144and receive the repulsive force and the attractive force from the secondand third magnetic field generators 142 and 143, alternately. Throughthis, the moving body 11 may perform a motion in a Y-axial directionwhich is a direction corresponding to a vector sum thereof.

When implementing the Y-axis directional motion using magnetic fieldgenerators arranged as illustrated in FIG. 10, the Y-axis directionalmotion may be implemented using only the first and third magnetic fieldgenerators 141 and 143.

A specific motion mechanism may be the same as the mechanism of theX-axis directional motion of the actuating module 10 including twomagnetic field generators except for a number of magnetic fieldgenerators to be used.

Hereinafter, a diagonal motion of the moving body 11 associated with theactuating modules 20 and 30 will be described with reference to FIGS. 9and 10.

In a coordinate system, to allow the moving body 11 to move in a Y=Xline direction, the first magnetic field generator 141 and the thirdmagnetic field generator 143 may be used based on the actuating module30 of FIG. 10.

Specifically, when a current is applied to the first and third magneticfield generators 141 and 143 to have opposite magnetic properties, theattractive force may be generated between the first magnetic fieldgenerator 141 and the moving body 11 and the repulsive force may begenerated between the third magnetic field generator 143 and the movingbody 11.

The moving body 11 may receive the attractive force from the firstmagnetic field generator 141 and receive the repulsive force from thethird magnetic field generator 143, thereby moving in a directioncorresponding to a vector sum thereof.

Thereafter, the AC current may be applied to the four magnetic fieldgenerators 141, 142, 143, and 144. Thus, the magnetic properties of themagnetic field generators 141, 142, 143, and 144 may be changed atportions adjacent to the moving body 11.

By the AC current applied to each of the magnetic field generators 141,142, 143, and 144, the moving body 11 may repetitively perform thediagonal motion. Through this, a Y=X line directional motion of themoving body 11 may be implemented.

Hereinafter, a Y=−X line directional motion of the moving body 11associated with the actuating modules 20 and 30 will be described withreference to FIGS. 9 and 10.

In a coordinate system, to allow the moving body 11 to move in a Y=−Xline direction, the second magnetic field generator 142 and the fourthmagnetic field generator 144 may be used based on the actuating module30 of FIG. 10. When compared to an actuation scheme of the Y=X linedirectional motion, the same mechanism may be applied to a Y=−X linedirectional motion except for a different magnetic field generator to beused in a diagonal direction.

The Y=X line directional motion and the Y=−X line directional motion maybe implemented using the actuating module 20 of FIG. 9. In this example,the actuating module 20 may operate using a pair of two magnetic fieldgenerators.

To implement the Y=X line directional motion, the first magnetic fieldgenerator 141 and the second magnetic field generator 142 may beprovided as a pair, and the third magnetic field generator 143 and thefourth magnetic field generator 144 may be provided as a pair. A currentmay be applied to each of the pairs such that the corresponding magneticfield generators have the same magnetic property.

Different pairs may need to be controlled to have opposite magneticproperties.

In this example, the attractive force may be generated between themoving body 11 and the first and second magnetic field generators 141and 142, and the repulsive force may be generated between the movingbody 11 and the third and the fourth magnetic force generators 143 and144.

The moving body 11 may simultaneously receive the attractive force fromthe first and second magnetic field generators 141 and 142 andsimultaneously receive the repulsive force from and the third and thefourth magnetic force generators 143 and 144, thereby moving in adirection corresponding to a vector sum thereof.

Thereafter, the AC current may be applied to the four magnetic fieldgenerators 141, 142, 143, and 144. Thus, the magnetic properties of themagnetic field generators 141, 142, 143, and 144 may be changed atportions adjacent to the moving body 11.

By the AC current applied to each of the magnetic field generators 141,142, 143, and 144, the moving body 11 may repetitively perform themotion. Through this, the Y=X line directional motion may beimplemented.

Conversely, to implement the Y=−X line directional motion, the first andfourth magnetic field generators 141 and 144 may be provided as a pair,and the second and third magnetic field generator 142 and 143 may beprovided as a pair.

To implement a motion of the multi-directional actuating module in anadditional direction, a plurality of magnetic field generators may bearranged along a circumference of a virtual circle that shares a centerwith a center of an actuator. In this example, a number of the magneticfield generators may correspond to a number of directions in which themulti-directional actuating module is to move.

Also, an external current may be applied to the magnetic fieldgenerators 131 and 132 in a form of, for example, a rectangular wave, apulse wave, or a sine wave. Using different input waveforms, theactuating module may provide different tactile senses to a user.

A number of example embodiments have been described above. Nevertheless,it should be understood that various modifications may be made to theseexample embodiments. For example, suitable results may be achieved ifthe described techniques are performed in a different order and/or ifcomponents in a described system, architecture, device, or circuit arecombined in a different manner and/or replaced or supplemented by othercomponents or their equivalents. Accordingly, other implementations arewithin the scope of the following claims.

The invention claimed is:
 1. A haptic device comprising: a magneticfield generating module configured to generate at least two distinctmagnetic fields; a moving body including magnetic particles andconfigured to move in at least two axial directions by the at least twodistinct magnetic fields generated by the magnetic field generatingmodule; a support configured to support the moving body to be movable; aconnecting body configured to transfer at least one of a vibration, arotation, and a translation of the moving body; a transmitter configuredto transmit a tactile signal to a user by moving together with themoving body; and a controller configured to provide at least one tactilesense which includes vibration, tapping, rubbing or twisting bytransmitting a signal to the magnetic field generating module.
 2. Thehaptic device of claim 1, wherein the at least two distinct magneticfields comprise a first magnetic field and a second magnetic field, andwherein the first and second magnetic fields are in the same directionto allow upward and downward movement of the moving body relative to themagnetic field generating module.
 3. The haptic device of claim 1,wherein at least two distinct magnetic fields comprise a first magneticfield and a second magnetic field, and wherein the first and secondmagnetic fields are in the opposite directions to allow side-to-sidemovement of the moving body relative to the magnetic field generatingmodule.
 4. The haptic device of claim 1, wherein the moving bodyvibrates when an alternating current (AC) is applied to the magneticfield generating module.
 5. The haptic device of claim 1, wherein themoving body rotates or translates when a direct current (DC) current isapplied to the magnetic field generating module.
 6. The haptic device ofclaim 1, wherein the controller provides the at least one tactile senseby controlling at least one of a frequency, a direction or an intensityof current that is applied to the magnetic field generating module. 7.The haptic device of claim 1, wherein the support comprising: a supportwall configured to encompass the moving body; and at least one connectorconfigured to connect the support wall and the moving body and made ofan elastic material.
 8. The haptic device of claim 7, wherein themagnetic field generator is arranged above or below the moving body, andthe at least one connector is disposed on a periphery of a side surfaceof the moving body.
 9. The haptic device of claim 7, wherein the atleast one connector comprises: a first connector disposed on the firstside relative to the moving body; and a second connector disposed on thesecond side relative to the moving body.